//
//  RobotAngleOffsets.h
//  RobotRecordKinect
//
//  Created by Nick Hardeman on 11/2/16.
//

#pragma once
#include "ofMain.h"

class RobotAngleOffsets {
public:
    
    ofParameterGroup & setup(bool abAddInvAngles, bool abAddScales );
    void update( float aDeltaTimef );
    vector< double > getOffsetPose( vector< double > aInPose );
    
protected:
    ofParameterGroup params;
    ofParameter< bool > bReset;
    vector< ofParameter< float > > invAddAngles;
    vector< ofParameter< float > > addAngles;
    vector< ofParameter< float > > angleScales;
    
    vector< float > mSmoothInvAddAngles;
    vector< float > mSmoothAddAngles;
    vector< float > mSmoothAngleScales;
};
